“Operational space synchronization of two robot manipulators through a virtual velocity estimate”
Authors: Erik Kyrkjebø and Kristin Y. Pettersen,Affiliation: SINTEF and NTNU, Department of Engineering Cybernetics
Reference: 2008, Vol 29, No 2, pp. 59-68.
Keywords: Robot manipulator, synchronization, observer, nonlinear, virtual
Abstract: Two robot manipulators are synchronized in a leader-follower scheme where only joint position measurements of the leader are available. A virtual manipulator is designed to provide a velocity estimate of the unknown leader velocity to the control law of the follower. The closed-loop errors are shown to be uniformly globally practically asymptotically stable.
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DOI: 10.4173/mic.2008.2.3DOI forward links to this article:
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| [3] Jukka Parkkinen, Niko Nevaranta, Markku Niemela, Tuomo Lindh and Juha Pyrhonen (2018), doi:10.1109/EPEPEMC.2018.8521994 |
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BibTeX:
@article{MIC-2008-2-3,
title={{Operational space synchronization of two robot manipulators through a virtual velocity estimate}},
author={Kyrkjebø, Erik and Pettersen, Kristin Y.},
journal={Modeling, Identification and Control},
volume={29},
number={2},
pages={59--68},
year={2008},
doi={10.4173/mic.2008.2.3},
publisher={Norwegian Society of Automatic Control}
};